From 4df9e825aed4338977eca8f57894be9218fe2001 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Oct 2022 16:27:46 -0700
Subject: [PATCH] Use longActive for car-specific override signals (#26030)

* add override field to cruiseControl

* need to check if long *can* be active

* bump cereal to master

* revert

* better

* fix

* update refs

* rename variable
old-commit-hash: 741867813285672a723b8fc53ead65a5cbe5c6dd
---
 cereal                                   | 2 +-
 selfdrive/car/hyundai/carcontroller.py   | 2 +-
 selfdrive/car/hyundai/hyundaican.py      | 6 +++---
 selfdrive/controls/controlsd.py          | 1 +
 selfdrive/test/process_replay/ref_commit | 2 +-
 5 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/cereal b/cereal
index b29717c4c3..b1003dd012 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit b29717c4c328d5cf34d46f682f25267150f82637
+Subproject commit b1003dd0128a451439d4fe98d098d90e994f81ed
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 6f7cc319e4..4a1f7bcb51 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -133,7 +133,7 @@ class CarController:
         stopping = actuators.longControlState == LongCtrlState.stopping
         set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control.leadVisible, set_speed_in_units, stopping, CS.out.gasPressed))
+                                                        hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
         self.accel = accel
 
       # 20 Hz LFA MFA message
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 7f3f6a72c5..f4fe8f1126 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -94,7 +94,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, gas_pressed):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
   commands = []
 
   scc11_values = {
@@ -111,7 +111,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
   commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
 
   scc12_values = {
-    "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 0,
+    "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
     "StopReq": 1 if stopping else 0,
     "aReqRaw": accel,
     "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
@@ -127,7 +127,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
     "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
     "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
     "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
-    "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
+    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
     "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6ce1156baf..8abb1a02a6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -705,6 +705,7 @@ class Controls:
     if len(angular_rate_value) > 2:
       CC.angularVelocity = angular_rate_value
 
+    CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 0d806ae5f1..db3684fb0b 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0f0a9aa8fed425468c488a4f8b7581c48d724e67
+02c6922762fef41c8188a5a4f1f3267b76651330
\ No newline at end of file